Thea Documentation

Harness for embodied agents

Build robot agents around a reliable loop.

Thea connects models, physical tools, current evidence, persistent world state, post-execution evaluation, and durable experience behind a small set of public boundaries.

Start with Thea Install and set up
01 One model decision and at most one selected Tool Call per turn
02 Fresh Observation and a ref-addressable Scene Graph
03 Evaluation as Exit Codes after physical execution
System view

A portable layer between model and body

The model, robot embodiment, policies, and user channel remain replaceable. The Harness owns the loop and the boundaries between them.

Thea architecture connecting the user, model, tools, body, Scene Graph, evaluator, and physical world
Read by task

Start where your integration starts

01

Runtime and context

Follow Task, Turn, and Session lifetimes through the Agentic Loop.

Open concepts → 02

Models and tools

Implement a provider adapter or register a local or MCP-backed Tool.

Open interfaces → 03

Scene Graph

Connect persistent world state, its Brief, and ref-keyed queries.

Open Scene Graph → 04

Evaluation

Reconstruct an exit code from post-execution physical evidence.

Open Evaluation →
First run

Install the public packages in one step.

The installer creates an isolated environment and initializes local configuration without overwriting existing values. 

./install.sh
./run.sh --mode cli

Ready to connect a simulator or robot? Follow the Usage guide.